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Pinion adjustment would be something done when setting up the differential. If you tinkered with the differential and were just hoping to put it all back together the way it came apart, you are in for a sorry surprise.
If you axle is merely worn (or worn out) and clunks (or is on the verge of breaking) then you either run it or replace the ring and pinion, again with proper set up.
IMO setting up a rear axle is probably 8 on a scale of 10 for automotive type jobs. Find a shop that knows your vehicle to have it done, or if you must diy, be prepared to learn a new hobby as you may be doing it 2 or more times.
Rezvani's Latest Post-Apocalytic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.